两轮自平衡智能车直立行走研究

摘要

两轮智能车直立行走及直立行走的稳定性一直是两轮自平衡智能车制作过程中的关键问题,针对建立的两轮自平衡智能车动力学模型,分析了两轮自平衡智能车自身无法维持直立状态的原因,并得出两轮自平衡智能车直立控制所需要的关键参数为智能车车身的姿态倾角,通过互补滤波将陀螺仪加速度计采集到的数据进行融合,得到准确的姿态倾角值,并以实验对比的方式得到了陀螺仪加速度计在两轮自平衡智能车上的最优安装位置,最终实现两轮自平衡智能车直立行走.%The perpendicularity and stability of the models'perpendicularity are main problems in the process of producing a two-wheeled self-balancing vehicle,based on the two self balancing intelligent vehicle dynamics model,we analyzed the reason for why two self balancing intelligent vehicle can't maintain upright by itself,and we realized the key parameters for two self standing balance control is attitude angle,we get accurate attitude angle value by fusing the data collected by accelerometer in method of complementary filtering and obtained optimal installation position of the gyro accelerometer by the experimental comparison,finally we realized the upright walking of two-wheeled smart car.